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A novel precise pose prediction algorithm for setting the sleeping mode of the Yutu-2 rover based on a multiview block bundle adjustment

Published online by Cambridge University Press:  02 May 2022

Song Peng ,
Youqing Ma Open the ORCID record for Youqing Ma [Opens in a new window] ,
Xinchao Xu ,
Yang Jia  and
Shaochuang Liu
Song Peng
Affiliation:
Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China
Youqing Ma*
Affiliation:
International Research Center of Big Data for Sustainable Development Goals, Beijing, 100094, China Key Laboratory of Digital Earth Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China
Xinchao Xu
Affiliation:
School of Geomatics, Liaoning Technical University, Fuxin, Liaoning, 123000, China
Yang Jia
Affiliation:
Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China
Shaochuang Liu
Affiliation:
International Research Center of Big Data for Sustainable Development Goals, Beijing, 100094, China Key Laboratory of Digital Earth Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100094, China
*
*Corresponding author. E-mail: mayq@radi.ac.cn
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Abstract

To set the sleeping mode for the Yutu-2 rover, a visual pose prediction algorithm including terrain reconstruction and pose estimation was first studied. The terrain reconstruction precision is affected by using only the stereo navigation camera (Navcam) images and the rotation angles of the mast. However, the hazard camera (Hazcam) pose is fixed, and an image network was constructed by linking all of the Navcam and Hazcam stereoimages. Then, the Navcam pose was refined based on a multiview block bundle adjustment. The experimental results show that the mean absolute errors of the check points in the proposed algorithm were 10.4 mm over the range of $\boldsymbol{L}$ from 2.0 to 6.1 m, and the proposed algorithm achieved good prediction results for the rover pose (the average differences of the values of the pitch angle and the roll angle were −0.19 degrees and 0.29 degrees, respectively). Under the support of the proposed algorithm, engineers have completed the remote setting of the sleeping mode for Yutu-2 successfully in the Chang’e-4 mission operations.

Keywords

Yutu-2 roversleeping modepose predictionterrain reconstructionmultiview block bundle adjustmentimage network
Type
Research Article
Information
Robotica , Volume 40 , Issue 11 , November 2022 , pp. 3837 - 3862
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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